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dlp4500.cpp
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#include "dlp4500.h"
dlpclass::dlpclass()
{
settings.Load("DLP_LightCrafter_4500_3D_Scan_Application_Config.txt");
//D://photo//src//
// 检索的设置
settings.Get(&algorithm_type);
settings.Get(&camera_type);
settings.Get(&connect_id_projector);
settings.Get(&connect_id_camera);
settings.Get(&config_file_projector);
settings.Get(&config_file_camera);
settings.Get(&config_file_calib_projector);
settings.Get(&config_file_calib_camera);
settings.Get(&config_file_geometry);
settings.Get(&config_file_structured_light_1);
settings.Get(&config_file_structured_light_2);
settings.Get(&continuous_scanning);
settings.Get(&calib_data_file_projector);
settings.Get(&calib_data_file_camera);
settings.Get(&dir_calib_data);
settings.Get(&dir_camera_calib_image_output);
settings.Get(&dir_system_calib_image_output);
settings.Get(&dir_scan_data_output);
settings.Get(&dir_scan_images_output);
settings.Get(&output_name_image_camera_calib_board);
settings.Get(&output_name_image_camera_calib);
settings.Get(&output_name_image_system_calib);
settings.Get(&output_name_image_depthmap);
settings.Get(&output_name_xyz_pointcloud);
}
dlpclass::~dlpclass()
{
}
bool dlpclass::verify()
{
// 验证支持列表中的摄像机和算法类型
if(camera_type.Get() != 2)
{ std::cout << "Unsupported CAMERA_TYPE set in the configuration file. Modify DLP_LightCrafter_3D_Scan_Application_Config.txt" << std::endl
<< "Press any key to exit..." << std::endl;
std::cin.get();
return 0;
}
if(algorithm_type.Get() > 1)
{ std::cout << "Unsupported ALGORITHM_TYPE set in the configuration file. Modify DLP_LightCrafter_3D_Scan_Application_Config.txt" << std::endl
<< "Press any key to exit..." << std::endl;
std::cin.get();
return 0;
}
//连接投影仪
ret = dlp::DLP_Platform::ConnectSetup(projector,connect_id_projector.Get(),config_file_projector.Get(),true);
if(ret.hasErrors())
{ std::cout << "\n\nPlease resolve the LightCrafter connection issue before proceeding to next step..." << std::endl;
return 0;}
//根据用户选择连接相机
if(camera_type.Get() == 2)
{
ret = dlp::Camera::ConnectSetup(camera_ds,connect_id_camera.Get(),config_file_camera.Get(),true);
std::cout << "ret = " << ret << std::endl ;
if(ret.hasErrors())
{ std::cout << "\n\nPlease resolve the camera connection issue before proceeding to next step..." << std::endl << ret.ToString () << std::endl;
return 0;}
}
else
{ std::cout << "error :dlpclass::verifystd::" << std::endl;// 执行不到的代码
return 0;}
return 1;
}
/*
0:退出
1:生成相机校准板，并输入特征测量值
2:准备DLP LightCrafter 4500(每个投影仪一次)
3:准备校准和扫描系统
4:校准相机
5:校准系统
6:执行扫描(仅垂直模式)
7:执行扫描(仅水平模式)
8:执行扫描(垂直和水平模式)
9.重新连接照相机和投影仪
*/
void dlpclass::menu(int menu_select)
{
if(camera_type.Get() == 2)
{
switch(menu_select){
case 0:
break;
//1:生成相机校准板，并输入特征测量值
case 1:
{
// GenerateCameraCalibrationBoard(10);
GenerateCameraCalibrationBoard(&camera_ds,
config_file_calib_camera.Get(),
dir_camera_calib_image_output.Get() + output_name_image_camera_calib_board.Get() + ".bmp");
//"D://photo//camera_calibration_board//camera_calibration_board.bmp"
break;
}
//2:准备DLP LightCrafter 4500(每个投影仪一次)
case 2:
{
PrepareProjectorPatterns(&projector,
config_file_calib_projector.Get(),
&algo_three_phase_vert,
config_file_structured_light_1.Get(),
&algo_three_phase_horz,
config_file_structured_light_2.Get(),
false, // 固件将上传
&total_pattern_count);
break;
}
//3:准备校准和扫描系统
case 3:
{
PrepareProjectorPatterns(&projector,
config_file_calib_projector.Get(),
&algo_gray_code_vert,
config_file_structured_light_1.Get(),
&algo_gray_code_horz,
config_file_structured_light_2.Get(),
true, // 固件将不会被上传
&total_pattern_count);
break;
}
//4:校准相机
case 4:
{
CalibrateCamera(&camera_ds,
config_file_calib_camera.Get(),
calib_data_file_camera.Get(),
dir_camera_calib_image_output.Get() +
output_name_image_camera_calib.Get(),
&projector);
break;
}
//5:校准系统
case 5:
{
CalibrateSystem(&camera_ds,
config_file_calib_camera.Get(),
calib_data_file_camera.Get(),
&projector,
config_file_calib_projector.Get(),
calib_data_file_projector.Get(),
dir_system_calib_image_output.Get() +
output_name_image_system_calib.Get());
break;
}
//6:执行扫描(仅垂直模式)
case 6:
{
if(algorithm_type.Get() == 0)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_gray_code_vert,
&algo_gray_code_horz,
true,
false,
config_file_geometry.Get(),
continuous_scanning.Get());
else if(algorithm_type.Get() == 1)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_three_phase_vert,
&algo_three_phase_horz,
true,
false,
config_file_geometry.Get(),
continuous_scanning.Get());
break;
}
//7:执行扫描(仅水平模式)
case 7:
{
if(algorithm_type.Get() == 0)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_gray_code_vert,
&algo_gray_code_horz,
false,
true,
config_file_geometry.Get(),
continuous_scanning.Get());
else if(algorithm_type.Get() == 1)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_three_phase_vert,
&algo_three_phase_horz,
false,
true,
config_file_geometry.Get(),
continuous_scanning.Get());
break;
}
//8:执行扫描(垂直和水平模式)
case 8:
{
if(algorithm_type.Get() == 0)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_gray_code_vert,
&algo_gray_code_horz,
true,
true,
config_file_geometry.Get(),
continuous_scanning.Get());
else if(algorithm_type.Get() == 1)
ScanObject(&camera_ds,
false,
calib_data_file_camera.Get(),
&projector,
calib_data_file_projector.Get(),
&algo_three_phase_vert,
&algo_three_phase_horz,
true,
true,
config_file_geometry.Get(),
continuous_scanning.Get());
break;
}
//9.重新连接照相机和投影仪
case 9:
{
camera_ds.Disconnect();
projector.Disconnect();
dlp::DLP_Platform::ConnectSetup(projector,connect_id_projector.Get(),config_file_projector.Get(),true);
dlp::Camera::ConnectSetup(camera_ds,connect_id_camera.Get(),config_file_camera.Get(),true);
break;
}
//断连
case 10:
{
camera_ds.Disconnect();
projector.Disconnect();
break;
}
//Video
case 11:
{
Video(&camera_ds);
break;
}
default:
{
std::cout << "Invalid menu selection! \n" << std::endl;
break;
}
}
}
}
//1:生成相机校准板，并输入特征测量值
void dlpclass::GenerateCameraCalibrationBoard(double side_length)
{
std::cout << std::endl << "<<<<<<<<<<<<<<<<<<<<<< Generate Camera Calibration Board >>>>>>>>>>>>>>>>>>>>>>" << std::endl;
dlp::Camera *camera = &camera_ds;
const std::string &camera_calib_settings_file = config_file_calib_camera.Get();
const std::string &camera_calib_board_name = "D://photo//camera_calibration_board//camera_calibration_board.bmp";
// 摄像机标定的变量
dlp::Calibration::Camera camera_calib;
dlp::Parameters camera_calib_settings;
dlp::Image camera_calib_board_image;
// 检查相机是否为空
if(!camera) return;
// 负载校准设置
std::cout << "Loading camera calibration settings..." << std::endl;
if(camera_calib_settings.Load(camera_calib_settings_file).hasErrors())
{
//相机校准设置文件未加载
std::cout << "Could NOT load camera calibration settings!" << std::endl << ret.ToString() << std::endl;
return;}
//设置当前相机的相机校准
camera_calib.SetCamera((*camera));
std::cout << "Setting up camera calibration..." << std::endl;
ret = camera_calib.Setup(camera_calib_settings);
if(ret.hasErrors())
{
std::cout << "Camera calibration setup FAILED!" << std::endl << ret.ToString() << std::endl;
return;}
// 生成并保存校准图像
std::cout << "Generating camera calibration board..." << std::endl;
camera_calib.GenerateCalibrationBoard(&camera_calib_board_image);
// 保存校准板
std::cout << "Saving calibration board..." << std::endl;
camera_calib_board_image.Save(camera_calib_board_name);
std::cout << "\nPlease print the camera calibration board and attach it to a flat surface The calibration board image can be found in: "
<< camera_calib_board_name <<
"\n\nOnce the calibration image has been printed and attached to a flat surface, measure the size of the square on the board \n \
\nNOTE: Enter the measurement in the units desired for the point cloud (i.e. mm, in, cm, etc.)\n \
\nNOTE: Both camera and system calibrations must be redone! " << std::endl;
// 检索测量
std::cout << "Enter the length of the square (do NOT include units): " << std::endl;
std::cout << "Saving feature distances to calibration settings file..."<<std::endl;
camera_calib_settings.Set(dlp::Calibration::Parameters::BoardFeatureRowDistance(side_length));
camera_calib_settings.Set(dlp::Calibration::Parameters::BoardFeatureColumnDistance(side_length));
camera_calib_settings.Save(camera_calib_settings_file);
}
void dlpclass::GenerateCameraCalibrationBoard(dlp::Camera *camera, //相机
const std::string &camera_calib_settings_file, //相机校准设置
const std::string &camera_calib_board_name) //校准板保存文件位置
{
std::cout << std::endl << "<<<<<<<<<<<<<<<<<<<<<< Generate Camera Calibration Board >>>>>>>>>>>>>>>>>>>>>>" << std::endl;
// 摄像机标定的变量
dlp::Calibration::Camera camera_calib;
dlp::Parameters camera_calib_settings;
dlp::Image camera_calib_board_image;
// 检查相机是否为空
if(!camera) return;
// 负载校准设置
std::cout << "Loading camera calibration settings..." << std::endl;
if(camera_calib_settings.Load(camera_calib_settings_file).hasErrors())
{
//相机校准设置文件未加载
std::cout << "Could NOT load camera calibration settings!" << std::endl << ret.ToString() << std::endl;
return;}
//设置当前相机的相机校准
camera_calib.SetCamera((*camera));
std::cout << "Setting up camera calibration..." << std::endl;
ret = camera_calib.Setup(camera_calib_settings);
if(ret.hasErrors())
{
std::cout << "Camera calibration setup FAILED!" << std::endl << ret.ToString() << std::endl;
return;}
// 生成并保存校准图像
std::cout << "Generating camera calibration board..." << std::endl;
camera_calib.GenerateCalibrationBoard(&camera_calib_board_image);
// 保存校准板
std::cout << "Saving calibration board..." << std::endl;
camera_calib_board_image.Save(camera_calib_board_name);
// 等待用户打印校准板
std::cout << "\nPlease print the camera calibration board and attach it to a flat surface The calibration board image can be found in: "
<< camera_calib_board_name
<< "\n\nOnce the calibration image has been printed and attached to a flat surface, measure the size of the square on the board \n \
\nNOTE: Enter the measurement in the units desired for the point cloud (i.e. mm, in, cm, etc.)\n \
\nNOTE: Both camera and system calibrations must be redone! " << std::endl;
// 检索测量
std::cout << "Enter the length of the square (do NOT include units): " ;
//std::cin >> side_length;
std::cout << std::endl;
std::cout << "Saving feature distances to calibration settings file..."<<std::endl;
camera_calib_settings.Set(dlp::Calibration::Parameters::BoardFeatureRowDistance(side_length));
camera_calib_settings.Set(dlp::Calibration::Parameters::BoardFeatureColumnDistance(side_length));
camera_calib_settings.Save(camera_calib_settings_file);
}
//2:准备DLP LightCrafter 4500(每个投影仪一次) previously_prepared=false
//3:准备校准和扫描系统 previously_prepared=true
void dlpclass::PrepareProjectorPatterns(dlp::DLP_Platform *projector,
const std::string &projector_calib_settings_file,
dlp::StructuredLight *structured_light_vertical,
const std::string &structured_light_vertical_settings_file,
dlp::StructuredLight *structured_light_horizontal,
const std::string &structured_light_horizontal_settings_file,
const bool previously_prepared,
unsigned int *total_pattern_count)
{
std::cout << std::endl << std::endl << "<<<<<<<<<<<<<<<<<<<<<< Load DLP LightCrafter 4500 Firmware >>>>>>>>>>>>>>>>>>>>>>" << std::endl;
// 投影仪标定变量
dlp::Calibration::Projector projector_calib;
dlp::Parameters projector_calib_settings;
// 结构光序列
dlp::Pattern::Sequence calibration_patterns;
dlp::Pattern::Sequence vertical_patterns;
dlp::Pattern::Sequence horizontal_patterns;
dlp::Pattern::Sequence all_patterns;
// 结构光的设置
dlp::Parameters structured_light_vertical_settings;
dlp::Parameters structured_light_horizontal_settings;
projector_calib.SetDebugEnable(false);
// 检查投影仪是否无效
if(!projector) return;
// 检查投影仪是否连接好
if(!projector->isConnected())
{
std::cout << "Projector NOT connected!" << std::endl;
return;
}
// 投影仪校准设置
std::cout << "Loading projector calibration settings..." << std::endl;
if(projector_calib_settings.Load(projector_calib_settings_file).hasErrors())
{
//投影仪校准设置文件未加载
std::cout << "Could NOT load projector calibration settings!" << std::endl << ret.ToString() << std::endl;
return;
}
//设置投影仪校准为当前投影仪
projector_calib.SetDlpPlatform((*projector));
// 添加临时相机分辨率设置
projector_calib_settings.Set(dlp::Calibration::Parameters::ImageColumns(1000));
projector_calib_settings.Set(dlp::Calibration::Parameters::ImageRows(1000));
std::cout << "Setting up projector calibration..." << std::endl;
ret = projector_calib.Setup(projector_calib_settings);
if(ret.hasErrors())
{
std::cout << "Projector calibration setup FAILED: " << std::endl << ret.ToString() << std::endl;
return;
}
//创建校准图像并转换为单色
std::cout << "Generating projector calibration board..." << std::endl;
dlp::Image projector_calibration_board_image;
projector_calib.GenerateCalibrationBoard(&projector_calibration_board_image);
projector_calibration_board_image.ConvertToMonochrome();
// 创建校准模式
std::cout << "Generating projector calibration pattern..." << std::endl;
dlp::Pattern calib_pattern;
calib_pattern.bitdepth = dlp::Pattern::Bitdepth::MONO_1BPP;
calib_pattern.color = dlp::Pattern::Color::WHITE;
calib_pattern.data_type = dlp::Pattern::DataType::IMAGE_DATA;
calib_pattern.image_data.Create(projector_calibration_board_image);
// 将校准模式添加到校准模式序列中
calibration_patterns.Add(calib_pattern);
// 设置结构光模式
if(!structured_light_vertical) return;
if(!structured_light_horizontal) return;
// 加载垂直结构光设置
std::cout << "Loading vertical structured light settings..." << std::endl;
if(structured_light_vertical_settings.Load(structured_light_vertical_settings_file).hasErrors())
{
// 结构化光设置文件未加载
std::cout << "Structured light settings did NOT load successfully" << std::endl;
return;
}
// 加载水平结构光设置
std::cout << "Loading horizontal structured light settings..." << std::endl;
if(structured_light_horizontal_settings.Load(structured_light_horizontal_settings_file).hasErrors()){
//结构化光设置文件未加载
std::cout << "Structured light settings did NOT load successfully" << std::endl;
return;
}
structured_light_horizontal->SetDlpPlatform((*projector));
structured_light_vertical->SetDlpPlatform((*projector));
std::cout << "Setting up vertical structured light module..." << std::endl <<
structured_light_vertical->Setup(structured_light_vertical_settings).ToString() << std::endl <<
"Setting up horizontal structured light module..." << std::endl <<
structured_light_horizontal->Setup(structured_light_horizontal_settings).ToString() << std::endl;
// 生成模式序列
std::cout << "Generating vertical structured light module patterns..." << std::endl;
structured_light_vertical->GeneratePatternSequence(&vertical_patterns);
std::cout << "Generating horizontal structured light module patterns..." << std::endl;
structured_light_horizontal->GeneratePatternSequence(&horizontal_patterns);
// 组合所有模式序列
std::cout << "Combining all patterns for projector..." << std::endl;
all_patterns.Add(calibration_patterns);
all_patterns.Add(vertical_patterns);
all_patterns.Add(horizontal_patterns);
//如果previously_prepared是假的，模块应该假设投影仪之前没有准备好
//这对于LightCrafter 4500很重要，因为映像存储在固件中
//因此固件必须上传准备投影仪，但这只需要发生一次
dlp::Parameters force_preparation;
force_preparation.Set(dlp::DLP_Platform::Parameters::SequencePrepared(previously_prepared));
projector->Setup(force_preparation);
//如果需要上传固件，则显示调试消息以便观察进程
projector->SetDebugEnable(!previously_prepared);
// 准备投影仪
std::cout << "Preparing projector for calibration and structured light..." << std::endl;
ret = projector->PreparePatternSequence(all_patterns);
projector->SetDebugEnable(false);
if( ret.hasErrors()){
std::cout << "Projector prepare sequence FAILED: " << std::endl << ret.ToString() << std::endl;
(*total_pattern_count) = 0;
}
std::cout << "Projector prepared" << std::endl;
(*total_pattern_count) = all_patterns.GetCount();
}
//4:校准相机
void dlpclass::CalibrateCamera(dlp::Camera *camera,
const std::string &camera_calib_settings_file,
const std::string &camera_calib_data_file,
const std::string &camera_calib_image_file_names,
dlp::DLP_Platform *projector)
{
std::cout << std::endl << std::endl << "<<<<<<<<<<<<<<<<<<<<<< Calibrating the Camera >>>>>>>>>>>>>>>>>>>>>>" << std::endl;
// 摄像机标定的变量
dlp::Calibration::Camera camera_calib;
dlp::Calibration::Data camera_calib_data;
dlp::Parameters camera_calib_settings;
// 检查相机是否为空
if(!camera) return;
// 检查摄像头是否连接好
if(!camera->isConnected())
{
std::cout << "Camera NOT connected!" << std::endl;
return;
}
// 检查投影仪是否无效
if(!projector) return;
// 检查投影仪是否连接好
if(!projector->isConnected())
{
std::cout << "Projector NOT connected!" << std::endl;
return;
}
// 负载校准设置
std::cout << "Loading camera calibration settings..." << std::endl;
if(camera_calib_settings.Load(camera_calib_settings_file).hasErrors())
{
// 相机校准设置文件未加载
std::cout << "Could NOT load camera calibration settings!" << std::endl << ret.ToString() << std::endl;
return;
}
// 设置当前相机的相机校准
camera_calib.SetCamera((*camera));
std::cout << "Setting up camera calibration" << std::endl;
ret = camera_calib.Setup(camera_calib_settings);
if(ret.hasErrors())
{
std::cout << "Camera calibration setup FAILED: " << std::endl << ret.ToString() << std::endl;
return;
}
// 投射一个白色图案来照亮校准板
std::cout << "Projecting white pattern to illuminate calibration board" << std::endl;
projector->ProjectSolidWhitePattern();
// 获取所需校准图像的数量
unsigned int boards_success;
unsigned int boards_required;
camera_calib.GetCalibrationProgress(&boards_success,&boards_required);
std::cout << "Calibrating camera..." << std::endl <<
"Calibration boards required = " << boards_required << std::endl <<
"Calibration boards captured = " << boards_success << std::endl;
// 显示校准说明
std::cout << "\nRead the following instructions in their entirety!" << std::endl <<
"Camera calibration instructions:" << std::endl <<
"1. After the live view has started, place the calibration board so it is completely visible within the camera frame and is stationary" << std::endl <<
" - The board should be placed at the desired scanning distance illuminated and sharp" << std::endl <<
" - Lock the aperture and focus in place if possible" << std::endl <<
" - If the camera focus or aperture is adjusted, the calibration must be redone" << std::endl <<
"3. Select the live view window and press the SPACE_BAR key to capture the calibration board's current position" << std::endl <<
"4. Move the calibration board and repeat step 3 until calibration is complete" << std::endl <<
" - Capture images with the board at different distances from the camera" << std::endl <<
" - Capture images with the board at different positions in the camera frame" << std::endl <<
" - The position of the camera can be changed as well rather than moving the board" << std::endl <<
"\nNOTE: Press ESC key to quit the calibration routine" << std::endl;
dlp::CmdLine::PressEnterToContinue("Press ENTER after reading the above instructions...");
// 如果还没有启动，请启动相机
if(!camera->isStarted()){
if(camera->Start().hasErrors()){
dlp::CmdLine::Print("Could NOT start camera! \n");
return;
}
else{
dlp::CmdLine::Print("Started camera. \n");
}
}
// 给相机一些时间来填充图像缓冲区
dlp::Time::Sleep::Milliseconds(50);
//开始捕捉图像进行相机校准
dlp::Image camera_printed_board;
dlp::Image::Window camera_view;
// 打开相机视图
camera_view.Open("Camera Calibration - press SPACE to capture or ESC to exit");
// 捕获图像，直到足够多的板已成功添加
while(boards_success < boards_required){
std::cout << "boards_success : " << boards_success << " boards_required : " << boards_required << std::endl;
// 等待空格键添加校准图像
unsigned int return_key = 0;
while(return_key != ' '){
camera_printed_board.Clear(); // 清除图像对象
camera->GetFrame(&camera_printed_board); // 捕获最新的相框
camera_view.Update(camera_printed_board); // 显示图像
camera_view.WaitForKey(16,&return_key); // 等待按键被按下或50ms超时
if(return_key == 27) break; // ESC键被按下
}
// ESC键被按下
if(return_key == 27){
// 关闭图像窗口
camera_view.Close();
// 停止相机捕捉
if(camera->Stop().hasErrors()){
std::cout << "Camera failed to stop! Exiting calibration routine..." << std::endl;
}
// 退出校准功能
std::cout << "Exiting camera calibration..." << std::endl;
return;
}
// 添加校准板图像
bool success = false;
camera_printed_board.ConvertToMonochrome(); // 转换图像为单色
camera_calib.AddCalibrationBoard(camera_printed_board,&success);
// 更新状态
camera_calib.GetCalibrationProgress(&boards_success,&boards_required);
// 显示消息
if(success){
std::cout << "Calibration board successfully added! Captured " << dlp::Number::ToString(boards_success) << " of " << dlp::Number::ToString(boards_required) << std::endl;
camera_printed_board.Save(camera_calib_image_file_names + dlp::Number::ToString(boards_success) + ".bmp");
}
else{
std::cout << "\nCalibration board NOT found! Please check the following:" << std::endl <<
"- All internal corners of the calibration board are visible within the camera frame" << std::endl <<
"- The calibration board does not have any glare" << std::endl <<
"- The calibration board is well illuminated" << std::endl <<
"- The calibration board is in focus" << std::endl;
}
}
// 释放图像内存
camera_printed_board.Clear();
// 校准相机
double reprojection_error;
ret = camera_calib.Calibrate(&reprojection_error);
if(!ret.hasErrors()){
std::cout << "Camera was successfully calibrated!" << std::endl <<
"Reprojection error (closer to zero is better) = " << reprojection_error << std::endl;
// 获取摄像机校准
camera_calib.GetCalibrationData(&camera_calib_data);
// 保存相机校准数据
camera_calib_data.Save(camera_calib_data_file);
std::cout << "Camera calibration data saved to :" << camera_calib_data_file << std::endl;
}
else{
std::cout << "Camera calibration FAILED!" << std::endl;
}
return;
}
//5:校准系统
void dlpclass::CalibrateSystem(dlp::Camera *camera,
const std::string &camera_calib_settings_file,
const std::string &camera_calib_data_file,
dlp::DLP_Platform *projector,
const std::string &projector_calib_settings_file,
const std::string &projector_calib_data_file,
const std::string &calib_image_file_names)
{
// 摄像机标定的变量
dlp::Calibration::Camera camera_calib;
dlp::Calibration::Data camera_calib_data;
dlp::Parameters camera_calib_settings;
// 投影仪标定变量
dlp::Calibration::Projector projector_calib;
dlp::Calibration::Data projector_calib_data;
dlp::Parameters projector_calib_settings;
camera_calib.SetDebugEnable(false);
projector_calib.SetDebugEnable(false);
// 检查相机是否为空
if(!camera) return;
// 检查摄像头是否连接好
if(!camera->isConnected())
{
std::cout << "Camera NOT connected! \n" << std::endl;
return;
}
// 检查投影仪是否无效
if(!projector) return;
// 检查投影仪是否连接好
if(!projector->isConnected())
{
std::cout << "Projector NOT connected! \n" << std::endl;
return;
}
// 检查相机校准数据
bool camera_calib_exists = true;
camera_calib_data.Load(camera_calib_data_file);
if(camera_calib.SetCalibrationData(camera_calib_data).hasErrors()) camera_calib_exists = false;
// 相机校准设置
std::cout << "Loading camera calibration settings..." << std::endl;
if(camera_calib_settings.Load(camera_calib_settings_file).hasErrors())
{
// 相机校准设置文件未加载
std::cout << "Could NOT load camera calibration settings!" << std::endl << ret.ToString() << std::endl;
return;
}
// 投影仪校准设置
std::cout << "Loading projector calibration settings..." << std::endl;
if(projector_calib_settings.Load(projector_calib_settings_file).hasErrors())
{
// 投影仪校准设置文件未加载
std::cout << "Could NOT load projector calibration settings!" << std::endl <<ret.ToString() << std::endl;
return;
}
//用投影仪所需的数字调整相机校准板
dlp::Calibration::Parameters::BoardCount projector_boards_required;
projector_calib_settings.Get(&projector_boards_required);
camera_calib_settings.Set(projector_boards_required);
// 设置当前相机的相机校准
camera_calib.SetCamera((*camera));
projector_calib.SetCamera((*camera));
projector_calib.SetDlpPlatform((*projector));
std::cout << "Setting up camera calibration..." << std::endl;
ret = camera_calib.Setup(camera_calib_settings);
if(ret.hasErrors())
{
std::cout << "Camera calibration setup FAILED: " << std::endl << ret.ToString() << std::endl;
return;
}
std::cout << "Setting up projector calibration..." << std::endl;
ret = projector_calib.Setup(projector_calib_settings);
if(ret.hasErrors())
{
std::cout << "Projector calibration setup FAILED: " << std::endl << ret.ToString() << std::endl;
return;
}
// 如果还没有启动，请启动相机
if(!camera->isStarted())
{
if(camera->Start().hasErrors())
{
std::cout << "Could NOT start camera! " << std::endl;
return;
}
}
// 项目校准模式聚焦投影仪
ret = projector->DisplayPatternInSequence(0,true);
if(ret.hasErrors())
{
std::cout << ret.ToString() << std::endl;
return;
}
dlp::Time::Sleep::Milliseconds(100);
std::cout << std::endl <<"Place the calibration board at the desired scanning distance and focus the projector..." << std::endl << std::endl;
// 获取所需校准图像的数量
unsigned int cam_boards_success;
unsigned int cam_boards_required;
unsigned int proj_boards_success;
unsigned int proj_boards_required;
camera_calib.GetCalibrationProgress(&cam_boards_success,&cam_boards_required);
projector_calib.GetCalibrationProgress(&proj_boards_success,&proj_boards_required);
// 显示校准说明
std::cout << "Read the following instructions in their entirety!" << std::endl <<
"System calibration instructions:" << std::endl <<
"1. After the live view has started, place the calibration board at the furthest desired scanning distance" << std::endl <<
" - The entire projection must fit on the calibration board!" << std::endl <<
"2. Place the camera in a position so that the projection is completely visible within the camera frame" << std::endl <<
" - The board should be placed at the desired scanning distance" << std::endl <<
"3. Lock the projector and camera in place relative to each other if possible" << std::endl <<
" - If the camera or projector move relative to each other, the system calibration must be redone" << std::endl <<
"4. Select the live view window and press the SPACE_BAR key to capture the calibration board's current position" << std::endl <<
"5. Move the calibration board and repeat step 4 until calibration is complete" << std::endl <<
" - Capture images with the board at different distances from the projector" << std::endl <<
" - The projected pattern must always fit on the calibration board" << std::endl <<
" - Both the projected pattern and printed pattern must be viewable by the camera" << std::endl <<
" - The position of the camera and projector relative to each other should NOT be changed!" << std::endl;
dlp::CmdLine::PressEnterToContinue("\nNOTE: Press ESC key to quit the calibration routine\n");
// 开始捕捉图像进行相机校准
dlp::Image camera_printed_board;
dlp::Image projector_camera_combo;
dlp::Image::Window camera_view;
unsigned int return_key = 0;
// 打开相机实时视图
camera_view.Open("System Calibration - press SPACE to capture or ESC to exit");
while(proj_boards_success < proj_boards_required)
{
// 先拿相机板
while(cam_boards_success < cam_boards_required)
{
// 投影白色图案，照亮相机校准板
projector->ProjectSolidWhitePattern();
dlp::Time::Sleep::Milliseconds(250);
// 等待空格键添加校准图像
while(return_key != ' ')
{
camera_printed_board.Clear();
camera->GetFrame(&camera_printed_board);
camera_view.Update(camera_printed_board);
camera_view.WaitForKey(16,&return_key);
if(return_key == 27) break;
}
if(return_key == 27){
camera_view.Close();
if(camera->Stop().hasErrors())
std::cout << "Camera failed to stop!" << std::endl;
std:: cout <<"Exiting calibration..." << std::endl;
return;
}
// 重置返回键
return_key = 0;
// 添加校准板图像
bool success;
camera_printed_board.ConvertToMonochrome();
camera_calib.AddCalibrationBoard(camera_printed_board,&success);
// 更新状态
camera_calib.GetCalibrationProgress(&cam_boards_success,&cam_boards_required);
// 显示消息
if(success)
{
std::cout <<"Camera calibration board successfully added! Captured " + dlp::Number::ToString(cam_boards_success) + " of " + dlp::Number::ToString(cam_boards_required) << std::endl;
camera_printed_board.Save(calib_image_file_names + "camera_" + dlp::Number::ToString(cam_boards_success) + ".bmp");
// 现在就把投影仪校准好
projector->DisplayPatternInSequence(0,true);
dlp::Time::Sleep::Milliseconds(250);
camera->GetFrame(&projector_camera_combo);
camera_view.Update(projector_camera_combo);
camera_view.WaitForKey(1,&return_key);
dlp::Image projector_black;
projector->ProjectSolidBlackPattern();
dlp::Time::Sleep::Milliseconds(250);
camera->GetFrame(&projector_black);
camera_view.Update(projector_black);
camera_view.WaitForKey(1,&return_key);
// 添加打印板和组合板
dlp::Image projector_pattern;
projector_camera_combo.ConvertToMonochrome();
projector_black.ConvertToMonochrome();
projector_calib.RemovePrinted_AddProjectedBoard(camera_printed_board,
projector_black,
projector_camera_combo,
&projector_pattern,
&success);
projector_black.Clear();
// 更新状态
projector_calib.GetCalibrationProgress(&proj_boards_success,&proj_boards_required);
if(success)
{
std::cout << "Projector calibration board successfully added! Captured " + dlp::Number::ToString(proj_boards_success) + " of " + dlp::Number::ToString(proj_boards_required) << std::endl;
projector_pattern.Save(calib_image_file_names + "projector_pattern_" + dlp::Number::ToString(proj_boards_success) +".bmp");
projector_camera_combo.Save(calib_image_file_names + "projector_camera_combo_" + dlp::Number::ToString(proj_boards_success) +".bmp");
}
else
{
std::cout << "Projector calibration board NOT found! Please check the following:" << std::endl <<
"- All internal corners of the projected calibration board are visible within the camera frame" << std::endl <<
"- The projector calibration board does NOT fall off of the printed calibration board" << std::endl <<
"- The calibration board does not have any glare" << std::endl <<
"- The calibration board is well illuminated" << std::endl <<
"- The calibration board is in focus" << std::endl;
// 删除最近添加的相机校准板
camera_calib.RemoveLastCalibrationBoard();
camera_calib.GetCalibrationProgress(&cam_boards_success,&cam_boards_required);
}
}
else
std::cout << "Calibration board NOT found! Please check the following:" << std::endl <<
"- All internal corners of the calibration board are visible within the camera frame" << std::endl <<
"- The calibration board does not have any glare" << std::endl <<
"- The calibration board is well illuminated" << std::endl <<
"- The calibration board is in focus" << std::endl;
}
}
// 释放图像内存
camera_printed_board.Clear();
// 关闭窗口
camera_view.Close();
// 校准相机
double error;
int camera_calib_option = 0;